CN114426068A - Paper-based wall-climbing robot based on shape memory polymer drive and manufacturing method thereof - Google Patents
Paper-based wall-climbing robot based on shape memory polymer drive and manufacturing method thereof Download PDFInfo
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- CN114426068A CN114426068A CN202111434487.0A CN202111434487A CN114426068A CN 114426068 A CN114426068 A CN 114426068A CN 202111434487 A CN202111434487 A CN 202111434487A CN 114426068 A CN114426068 A CN 114426068A
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- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
The invention relates to a paper-based wall-climbing robot based on shape memory polymer drive and a manufacturing method thereof, wherein the paper-based wall-climbing robot comprises the following steps: the crawling arm assembly comprises strip-shaped paper arms, a plurality of groups of crawling arms and a plurality of driving mechanisms, wherein the strip-shaped paper arms are bent to form two groups of symmetrically arranged crawling arms, and each group of crawling arms comprises a driving large arm, a driving small arm and a walking arm which are sequentially bent and connected; the shape memory polymer actuator is arranged between the two groups of driving large arms and between each group of driving large arms and the driving small arms, and the change and the recovery of the angles between the two groups of driving large arms and between the driving large arms and the driving small arms are realized; the adsorption pad is arranged on the walking arm and used for supporting the strip-shaped paper arm and adsorbing the strip-shaped paper arm and the walking surface; and the control system is electrically connected with the shape memory polymer actuator and the adsorption pad respectively and sends control signals to the shape memory polymer actuator and the adsorption pad. The invention provides a light-weight paper-based wall-climbing robot which is simple to manufacture and reliable in work, and provides climbing power of the paper-based wall-climbing robot through the material characteristics of shape memory polymers.
Description
Technical Field
The invention relates to the technical field of wall-climbing robots, in particular to a paper-based wall-climbing robot based on shape memory polymer driving and a manufacturing method thereof.
Background
In recent years, paper robots have attracted more and more attention, unlike conventional robots made of rigid materials such as metal and plastic. The paper robot has the characteristics of low cost, light weight, ecological friendliness, excellent flexibility, foldability and the like, and realizes functions which are difficult to realize or impossible to realize by rigid robots such as medical robots, locomotive robots and the like.
Crawling is one of the widely used moving modes, and has been implemented on various robots, however, most of the existing crawling robots are made of elastic materials, and generally face three problems:
on one hand, for a crawling robot made of an elastic material, the crawling robot may deform under the influence of gravity when crawling in the vertical direction;
on the other hand, under the background that electrostatic adsorption is widely applied to a soft crawling robot, the adhesive force cannot completely disappear after the electrostatic adsorption is released due to the existence of the inherent adsorption force between the elastic material and the contact surface;
in addition, the soft crawling robot made of elastic materials has complex driving elements, and a plurality of driving structures are required to be arranged to drive each joint in the crawling robot to rotate.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the problems of gravity deformation, residual inherent adsorption force and complex driving of the elastic wall-climbing robot in the prior art, provide a light-weight paper-based wall-climbing robot which is simple to manufacture and reliable in work, and provide the climbing power of the paper-based wall-climbing robot through the material characteristics of the shape memory polymer.
In order to solve the technical problem, the invention provides a paper-based wall-climbing robot based on shape memory polymer drive, which comprises:
the paper crawling mechanism comprises strip-shaped paper arms, a plurality of groups of crawling arms and a plurality of groups of driving arms, wherein the strip-shaped paper arms are bent to form two groups of crawling arms which are symmetrically arranged, each group of crawling arms comprises a driving large arm, a driving small arm and a walking arm which are sequentially bent and connected, and the two groups of driving large arms, the driving small arms and the walking arms are symmetrically arranged;
the shape memory polymer actuator is arranged between the two groups of driving large arms and between each group of driving large arms and the driving small arms, and the change and recovery of the angle between the two groups of driving large arms and the change and recovery of the angle between each group of driving large arms and each group of driving small arms are realized by utilizing the characteristics of reversible phases and fixed phases of the shape memory polymer;
the adsorption pad is arranged on the walking arm and used for supporting the strip-shaped paper arm and adsorbing the strip-shaped paper arm and the walking surface;
and the control system is electrically connected with the shape memory polymer actuator and the adsorption pad respectively and sends control signals to the shape memory polymer actuator and the adsorption pad.
In one embodiment of the invention, the SMP actuator includes a SMP substrate and a copper resistor disposed on a curved inner surface of the SMP substrate, through which the SMP substrate is heat treated.
In one embodiment of the invention, the initial state bending angle of the shape memory polymer substrate is 120 degrees, the transformation bending angle after heating through the copper resistor sheet is 60 degrees, the transformation bending angle is maintained after the heating and cooling are stopped to room temperature, and the transformation bending angle is maintained at 60 degrees after the heating is carried out again, and the initial state bending angle is recovered to 120 degrees after the heating is carried out again.
In one embodiment of the invention, the adsorption pad comprises a paper pad base layer, an electrode adsorption layer is solidified on the paper pad base layer, and an insulating protection layer is arranged outside the electrode adsorption layer.
In one embodiment of the invention, the control system comprises an upper computer, a control board, a MOSFET and a voltage converter, wherein the upper computer sends a control instruction to the control board, the control board is electrically connected with the adsorption pad through the voltage converter and controls the on-off of the adsorption pad, the control board is electrically connected with the shape memory polymer actuator through the MOSFET and controls the activation state of the shape memory polymer actuator, and the walking of the paper-based wall climbing robot is realized by controlling the alternate adsorption of the adsorption pad and the periodic driving of the shape memory polymer actuator.
In order to solve the technical problem, the invention also provides a manufacturing method of the paper-based wall-climbing robot based on shape memory polymer driving, which comprises the following steps:
preparing a paper-based wall-climbing robot model, folding strip-shaped paper arms to form two groups of symmetrically arranged crawling arms, and then respectively bending each group of crawling arms to form a driving large arm, a driving small arm and a walking arm, wherein the positions of the two groups of driving large arms, the driving small arms and the walking arms are correspondingly arranged;
the paper-based wall climbing robot model is characterized in that shape memory polymer actuators are arranged at two groups of driving large arms of the paper-based wall climbing robot model and at inner bending positions between the driving large arms and the driving small arms, and the change and recovery of the angle between the two groups of driving large arms and the change and recovery of the angle between the driving large arms and the driving small arms are realized by utilizing the characteristics of reversible phases and fixed phases of shape memory polymers, so that the swinging of the driving large arms and the driving small arms is realized;
the paper-based wall climbing robot model is characterized in that adsorption pads capable of supporting the paper-based wall climbing robot model are respectively arranged on two walking arms of the paper-based wall climbing robot model, and the paper-based wall climbing robot model is adsorbed on a creeping surface through the adsorption pads;
the control system is respectively electrically connected with the shape memory polymer actuators and the adsorption pads, and the control system sends control signals for alternate on-off to the two adsorption pads and sends periodic driving signals to the shape memory polymer actuators to realize the crawling action of the paper-based wall-climbing robot model.
In one embodiment of the present invention, preparing a paper-based wall-climbing robot model comprises the steps of: a strip-shaped paper arm is taken, a laser cutting machine or other cutting equipment is utilized to symmetrically cut the central axis position and the two sides of the central axis of the strip-shaped paper arm, the cutting thickness is half of that of the strip-shaped paper arm, the strip-shaped paper arm is bent along the cutting position, and a driving large arm, a driving small arm and a walking arm which are symmetrically arranged are formed on the two sides of the central axis.
In one embodiment of the invention, the shape memory polymer actuator comprises a shape memory polymer substrate, a copper resistance sheet is printed on the curved inner surface of the shape memory polymer substrate, a double-faced adhesive tape is pasted on the curved outer surface of the shape memory polymer substrate, and the paper-based wall climbing robot model is pasted through the double-faced adhesive tape;
the shape memory polymer actuator comprises a shape memory polymer base material, a copper resistance card is printed on the curved inner surface of the shape memory polymer base material, a double-faced adhesive tape is pasted on the curved outer surface of the shape memory polymer base material, and the paper-based wall climbing robot model is pasted through the double-faced adhesive tape.
In one embodiment of the present invention, the preparation process of the adsorption pad comprises the following steps:
taking a flexible non-conductive insulating paper sheet, cutting the flexible non-conductive insulating paper sheet to a required size to be used as a paper pad base layer;
processing comb-tooth electrode-shaped meshes on a silk screen printing plate by a laser cutting machine or other cutting equipment, and then placing the silk screen printing plate on a paper pad base layer;
printing Ag/AgCl printing ink on a silk screen printing plate to form a comb-shaped electrode on a paper pad base layer;
taking down the screen printing plate, keeping the electrode upward, placing the paper pad base layer with the electrode on a heating plate, baking and curing the electrode, and connecting the wire to the uncured electrode in the process;
and after the electrode is cured, taking a piece of transparent adhesive tape with the same size as the paper pad base layer and sticking the transparent adhesive tape on the surface of the paper pad base layer with the electrode so as to insulate the upper surface of the comb-tooth electrode from the outside.
In one embodiment of the invention, the control system comprises an upper computer, a control board, a MOSFET and a voltage converter, the upper computer sends a control instruction to the control board, the control board is electrically connected with the adsorption pad through the voltage converter to control the on-off of the adsorption pad, the control board is electrically connected with the shape memory polymer actuator through the MOSFET to control the activation state of the shape memory polymer actuator, the MOSFET is used as a switch, when the switch is opened, the shape memory polymer actuator is heated, when the switch is closed, the shape memory polymer actuator is cooled to the room temperature, and the walking of the paper-based wall climbing robot is realized by controlling the alternate adsorption of the adsorption pad and the periodic driving of the shape memory polymer actuator.
Compared with the prior art, the technical scheme of the invention has the following advantages:
according to the paper-based wall-climbing robot based on the shape memory polymer drive and the manufacturing method thereof, the strip-shaped paper arm is bent to form the robot model with the driving large arm, the driving small arm and the walking arm, the manufacturing method is simple, the paper robot model has the characteristics of low cost, light weight, ecological friendliness, excellent flexibility, foldability and the like, and the functions which are difficult to realize or cannot be realized by rigid robots such as medical robots, locomotive robots and the like are realized;
the shape memory polymer actuator is used as a driving source of the robot, and the change and recovery of the angle between two groups of driving large arms and the change and recovery of the angle between each group of driving large arms and the driving small arms are realized by utilizing the characteristics of reversible phases and fixed phases of the shape memory polymer, so that crawling power is provided for the robot model; an adsorption pad is arranged and matched with a shape memory polymer actuator, so that the support of the strip-shaped paper arm and the adsorption of the strip-shaped paper arm and a walking surface are realized in the crawling process; therefore, the problems of deformation caused by gravity on the elastic climbing arm robot, inherent adsorption force between the elastic material and the contact surface and complex driving are effectively solved.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the embodiments of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is a schematic structural diagram of a paper-based wall-climbing robot based on shape memory polymer drive according to the present invention;
FIG. 2 is a schematic view of the structure of the absorbent pad of the present invention;
FIG. 3 is a control scheme system diagram of the control system of the present invention;
FIG. 4 is a flow chart of a manufacturing method of the paper-based wall climbing robot based on shape memory polymer drive of the invention;
FIG. 5 is a cut-away view of the strip paper arm of the present invention;
FIG. 6 is a flow chart of the preparation of the absorbent pad of the present invention;
FIG. 7 is a schematic representation of the motion of the paper-based wall climbing robot of the present invention.
The specification reference numbers indicate: 1. a strip paper arm; 11. driving the large arm; 12. driving the small arm; 13. a traveling arm; 2. a shape memory polymer actuator; 3. an adsorption pad; 31. a paper pad base layer; 32. an electrode adsorption layer; 33. an insulating protective layer;
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Example 1
Referring to fig. 1, the paper-based wall climbing robot based on shape memory polymer drive of the present invention comprises:
the paper cutting machine comprises a strip-shaped paper arm 1, printing paper or copper sheet paper and the like, wherein the strip-shaped paper arm 1 is flexibly manufactured and cut into strips, two groups of symmetrically-arranged crawling arms are formed by bending the strip-shaped paper arm 1, two times of bending are performed on each group of crawling arms to form a driving large arm 11, a driving small arm 12 and a walking arm 13 which are sequentially connected in a bending mode, the two groups of driving large arms 11, the driving small arms 12 and the walking arm 13 are symmetrically arranged, the length of the driving large arm 11 is larger than that of the driving small arm 12, the bending direction of the driving small arm 12 is the same as that of the driving large arm 11, and the bending direction of the walking arm 13 is opposite to that of the driving large arm 11 and the driving small arm 12; the wall-climbing robot model is prepared and formed through the strip-shaped paper arm 1, the manufacturing method is simple, the paper robot model has the characteristics of low cost, light weight, ecological friendliness, excellent flexibility, foldability and the like, and the functions which are difficult or impossible to realize by rigid robots such as medical robots, locomotive robots and the like are realized;
the Shape Memory Polymer actuator 2, which includes three Shape Memory Polymer actuators 2 in this embodiment, is respectively disposed between two groups of driving arms 11 and each group of driving arms 11 and driving arms 12, where a Shape Memory Polymer (SMP), also called a Shape Memory Polymer, refers to a Polymer material that can recover its initial Shape by stimulation of external conditions (such as heat, electricity, light, chemical induction, etc.) after its initial conditions are changed and fixed under certain conditions, and the Polymer chain substantially forms a stationary phase and a reversible phase in a physical cross-linking manner: when the temperature is raised to be higher than the glass-transition temperature, the microscopic Brownian motion of the reversible phase molecular chain is intensified, the stationary phase is still in a curing state, the SMP is deformed by a certain external force at the moment, the SMP is cooled by keeping the external force, and the reversible phase is cured to obtain a stable new shape, namely a deformed shape; when the temperature rises to be higher than the glass-transition temperature again, the reversible phase is softened, the fixed phase is kept solidified, the reversible phase molecular chain is reactivated in motion, and the thermodynamic equilibrium state is gradually reached under the action of the restoring stress of the fixed phase, namely, the macroscopic representation is the restored state; by utilizing the characteristics of reversible phase and fixed phase of the shape memory polymer, the change and recovery of the angle between the two groups of driving large arms 11 and the change and recovery of the angle between each group of driving large arms 11 and driving large arms 12 are realized, so that crawling power is provided for the robot model;
the adsorption pads 3 comprise two adsorption pads 3 which are respectively arranged on two walking arms 13 in the embodiment, the adsorption pads 3 are matched with the shape memory polymer actuator 2, and the support of the strip-shaped paper arm and the adsorption of the strip-shaped paper arm and the walking surface are realized in the crawling process, so that the wall climbing robot in the embodiment can crawl in a grabbing manner and is suitable for vertical wall climbing;
and the control system is respectively and electrically connected with the shape memory polymer actuator 2 and the adsorption pads 3, sends control signals to the shape memory polymer actuator 2 and the adsorption pads 3, and respectively controls the alternate electrification and outage of the two adsorption pads 3 and different activation states of the three shape memory polymer actuators 2, so that the crawling action of the wall climbing robot is realized.
Specifically, the shape memory polymer actuator 2 comprises a shape memory polymer substrate and a copper resistance sheet arranged on the curved inner surface of the shape memory polymer substrate, and the shape memory polymer substrate is subjected to heating treatment by electrifying the copper resistance sheet to raise the temperature;
in this embodiment, the bending angle of the shape memory polymer substrate in the initial state is 120 °, the glass transition temperature of the shape memory polymer substrate is 95 to 105 ℃, the transformation bending angle of the shape memory polymer substrate is 60 ° after the copper resistor disc is heated to 95 to 105 ℃, the transformation bending angle is maintained at 60 ° after the copper resistor disc is cooled to room temperature, the transformation bending angle is maintained at 60 ° after the copper resistor disc is heated again, and the transformation bending angle of the shape memory polymer substrate is recovered to 120 ° after the copper resistor disc is heated again, so that the change of the bending angle of the shape memory polymer substrate is realized by continuously heating the copper resistor disc on and off, and the swing between the driving arm 11 and the driving arm 11, and between the driving arm 11 and the driving arm 12 is realized.
Referring to fig. 2, the adsorption pad 3 includes a paper pad base layer 31, and the paper pad base layer 31 is made of flexible paper materials such as printing paper, art paper, and wrapping paper, and has no inherent adhesion to an adsorption surface, and can be applied to various smooth surfaces; an electrode adsorption layer 32 is solidified on the paper pad base layer 31, an insulating protection layer 33 is arranged outside the electrode adsorption layer 32, and different working states of the adsorption pad 3 are realized through the on-off electricity treatment of the electrode adsorption layer 32.
Referring to fig. 3, the control system comprises an upper computer, a control panel, a MOSFET and a voltage converter, wherein the upper computer comprises a computer terminal, a mobile phone terminal and the like which can send control instructions to the control panel;
the control panel is electrically connected with the adsorption pad 3 through a voltage converter and controls the on-off of the adsorption pad 3, the control panel controls the adsorption pad 3 through Pulse Width Modulation (PWM) of 5V voltage of the control panel, and the voltage is amplified by the voltage converter, so that the adsorption pad 3 can be provided with voltage as high as 5000V;
the control board is electrically connected with the shape memory polymer actuator 2 through a MOSFET (metal oxide semiconductor field effect transistor) and controls the activation state of the shape memory polymer actuator 2, the MOSFET is used as a switch, when the switch is opened, the shape memory polymer actuator 2 is heated, when the switch is closed, the shape memory polymer actuator 2 is cooled to room temperature, and walking of the paper-based wall climbing robot is realized by controlling alternate adsorption of the adsorption pad 3 and periodic driving of the shape memory polymer actuator 2.
Example 2
Referring to fig. 4, the manufacturing method of the paper-based wall-climbing robot based on shape memory polymer driving of the invention is used for preparing the paper-based wall-climbing robot, and comprises the following steps:
preparing a paper-based wall-climbing robot model: folding the strip-shaped paper arms to form two groups of symmetrically arranged crawling arms, and then respectively bending each group of crawling arms to form a driving large arm, a driving large arm and a walking arm, wherein the two groups of driving large arms, the driving large arms and the walking arm are correspondingly arranged;
installing a shape memory polymer actuator as a driving source in the preparation of the paper-based wall-climbing robot model: the paper-based wall climbing robot model is characterized in that a shape memory polymer actuator is arranged at an inner bending position between each group of driving large arms and each group of driving small arms of two groups of driving large arms of the paper-based wall climbing robot model, and the change and recovery of the angle between the two groups of driving large arms and the change and recovery of the angle between each group of driving large arms and the driving small arms are realized by utilizing the characteristics of reversible phases and fixed phases of shape memory polymers, so that the swinging of the driving large arms and the driving small arms is realized;
installing an adsorption pad for crawling in the preparation of a paper-based wall-climbing robot model: the paper-based wall climbing robot model is characterized in that adsorption pads capable of supporting the paper-based wall climbing robot model are respectively arranged on two walking arms of the paper-based wall climbing robot model, and the paper-based wall climbing robot model is adsorbed on a creeping surface through the adsorption pads;
and arranging a control system which is respectively and electrically connected with the shape memory polymer actuator and the adsorption pad: the control system sends out alternate on-off control signals to the two adsorption pads and sends out periodic driving signals to the shape memory polymer actuators, so that the crawling action of the paper-based wall-climbing robot model is realized.
Specifically, the preparation of the paper-based wall-climbing robot model comprises the following steps:
referring to fig. 5, a piece of printing paper or a piece of copper sheet paper and the like are flexibly manufactured and cut into a strip-shaped paper arm, the strip-shaped paper arm is cut symmetrically at the central axis position and on two sides of the central axis by a laser cutting machine or other cutting equipment, the cutting thickness is smaller than the thickness of the strip-shaped paper arm as shown in the dotted line position in the figure, the strip-shaped paper arm cannot be cut off, the cutting thickness is half of that of the strip-shaped paper arm in the embodiment, the strip-shaped paper arm is bent along the cutting position, a driving large arm, a driving small arm and a walking arm are symmetrically arranged on two sides of the central axis, the length of the driving large arm is larger than that of the driving small arm, the bending directions of the driving small arm and the driving large arm are the same, and the bending directions of the walking arm and the driving large arm and the driving small arm are opposite.
Specifically, in the embodiment, the shape memory polymer actuator comprises a shape memory polymer substrate, a copper resistance card is printed on the curved inner surface of the shape memory polymer substrate, a double-faced adhesive tape is pasted on the curved outer surface of the shape memory polymer substrate, and the paper-based wall climbing robot model is pasted through the double-faced adhesive tape;
the bending angle of the shape memory polymer substrate in the initial state is 120 degrees, the glass transition temperature of the shape memory polymer substrate is 95-105 degrees, the transformation bending angle of the shape memory polymer substrate is 60 degrees after the copper resistance card is heated to 95-105 degrees, the transformation bending angle is maintained to be 60 degrees after the copper resistance card is heated and cooled to room temperature, the bending angle of the shape memory polymer substrate is recovered to be 120 degrees after the copper resistance card is heated again, and therefore the change of the bending angle of the shape memory polymer substrate is achieved by adopting a continuous on-off electric heating mode of the copper resistance card, and the swing between the driving big arm and the driving big arm as well as between the driving big arm and the driving small arm is achieved.
Referring to fig. 6, the preparation process of the adsorption pad includes the following steps:
taking a flexible non-conductive insulating paper sheet, cutting the flexible non-conductive insulating paper sheet to a required size to be used as a paper pad base layer;
processing comb-tooth electrode-shaped meshes on a silk screen printing plate by a laser cutting machine or other cutting equipment, and then placing the silk screen printing plate on a paper pad base layer;
printing Ag/AgCl printing ink on a silk screen printing plate to form a comb-shaped electrode on a paper pad base layer;
taking down the screen printing plate, keeping the electrode upward, placing the paper pad substrate with the electrode on a heating plate, baking and curing the electrode, and in the process, connecting the wire to the uncured electrode, wherein the other end of the wire is connected to a control system;
and after the electrode is cured, taking a piece of transparent adhesive tape with the same size as the paper pad base layer and sticking the transparent adhesive tape on the surface of the paper pad base layer with the electrode so as to insulate the upper surface of the comb-tooth electrode from the outside.
Referring to fig. 7, the crawling process of the wall-climbing robot of the present invention is as follows:
taking a vertical climbing behavior example, the default direction is upward as a forward direction, two adsorption pads in the drawing are respectively defined as an upper adsorption pad and a lower adsorption pad along the vertical direction, the adsorption pads are defined to be in an on state when power is on, and the adsorption pads are defined to be in an off state when power is off; defining an upper shape memory polymer actuator, a middle shape memory polymer actuator and a lower shape memory polymer actuator in the vertical direction of the three shape memory polymer actuators in the figure, defining that the shape memory polymer actuators are heated to more than 95 ℃ and become temporary shapes (the bending angle is 60 ℃) into an activated state # 1, and are heated again to more than 95 ℃ and then restore permanent shapes (the bending angle is 120 ℃) into an activated state # 2;
at the initial position, the whole robot stays on the wall, and the two adsorption pads are both in an open state; the bending angles of the three shape memory polymer actuators are 120 degrees;
when climbing begins, the lower adsorption pad is closed, the upper adsorption pad is kept in an open state, the lower shape memory polymer actuator is heated to be more than 95 ℃ and is in an activated state # 1, the bending angle is changed to 60 degrees, the lower adsorption pad is stressed to be separated from the wall surface, and the residual adsorption force is removed;
heating the middle shape memory polymer actuator to enable the middle shape memory polymer actuator to be in an activated state # 1, changing the bending angle from 120 degrees to 60 degrees, and enabling the lower side adsorption pad to move upwards under the stress; the lower-side shape memory polymer actuator is heated again and is in an activated state # 2, the bending angle is restored to 120 degrees, and the lower-side adsorption pad is opened;
the upper adsorption pad is closed, the lower adsorption pad is kept in an open state, the upper shape memory polymer actuator is heated to a temperature of more than 95 ℃ and is in an activated state # 1, the bending angle is 60 degrees, the upper adsorption pad is separated from the ground under stress, and the residual adsorption force is removed;
and heating the middle shape memory polymer actuator to enable the middle shape memory polymer actuator to be in an activated state # 2, changing the bending angle from 60 degrees to 120 degrees, enabling the upper adsorption pad to be stressed to move upwards, heating the upper shape memory polymer actuator again to be in the activated state # 2, recovering the bending angle to 120 degrees, and opening the upper adsorption pad to finish a cycle.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. A paper-based wall climbing robot based on shape memory polymer drive, characterized by comprising:
the paper crawling mechanism comprises strip-shaped paper arms, a plurality of groups of crawling arms and a plurality of groups of driving arms, wherein the strip-shaped paper arms are bent to form two groups of crawling arms which are symmetrically arranged, each group of crawling arms comprises a driving large arm, a driving small arm and a walking arm which are sequentially bent and connected, and the two groups of driving large arms, the driving small arms and the walking arms are symmetrically arranged;
the shape memory polymer actuator is arranged between the two groups of driving large arms and between each group of driving large arms and the driving small arms, and the change and recovery of the angle between the two groups of driving large arms and the change and recovery of the angle between each group of driving large arms and each group of driving small arms are realized by utilizing the characteristics of reversible phases and fixed phases of the shape memory polymer;
the adsorption pad is arranged on the walking arm and used for supporting the strip-shaped paper arm and adsorbing the strip-shaped paper arm and the walking surface;
and the control system is electrically connected with the shape memory polymer actuator and the adsorption pad respectively and sends control signals to the shape memory polymer actuator and the adsorption pad.
2. The paper-based wall-climbing robot based on shape memory polymer drive according to claim 1, characterized in that: the shape memory polymer actuator comprises a shape memory polymer substrate and a copper resistance sheet arranged on the inner curved surface of the shape memory polymer substrate, and the shape memory polymer substrate is subjected to heating treatment through the copper resistance sheet.
3. The shape memory polymer drive-based paper-based wall-climbing robot according to claim 2, characterized in that: the bending angle of the shape memory polymer substrate in the initial state is 120 degrees, the transformation bending angle after the copper resistance sheet is heated is 60 degrees, the transformation bending angle is maintained at 60 degrees after the heating and the cooling are stopped to the room temperature, and the bending angle is recovered to be 120 degrees after the copper resistance sheet is heated again.
4. The paper-based wall-climbing robot based on shape memory polymer drive according to claim 1, characterized in that: the adsorption pad comprises a paper pad base layer, an electrode adsorption layer is solidified on the paper pad base layer, and an insulating protection layer is arranged outside the electrode adsorption layer.
5. The paper-based wall-climbing robot based on shape memory polymer drive according to claim 1, characterized in that: the control system comprises an upper computer, a control panel, a metal-oxide-semiconductor field effect transistor (MOSFET) and a voltage converter, wherein the upper computer sends a control instruction to the control panel, the control panel is electrically connected with an adsorption pad and controlled through the voltage converter, the on-off of the adsorption pad is controlled, the control panel is electrically connected with a shape memory polymer actuator and controlled through the MOSFET, the activation state of the shape memory polymer actuator is controlled, and the walking of the paper-based wall climbing robot is realized through the alternate adsorption of the control adsorption pad and the periodic driving of the shape memory polymer actuator.
6. A manufacturing method of a paper-based wall climbing robot based on shape memory polymer drive is characterized by comprising the following steps:
preparing a paper-based wall-climbing robot model, folding strip-shaped paper arms to form two groups of symmetrically arranged crawling arms, and then respectively bending each group of crawling arms to form a driving large arm, a driving small arm and a walking arm, wherein the positions of the two groups of driving large arms, the driving small arms and the walking arms are correspondingly arranged;
the paper-based wall climbing robot model is characterized in that shape memory polymer actuators are arranged at two groups of driving large arms of the paper-based wall climbing robot model and at inner bending positions between the driving large arms and the driving small arms, and the change and recovery of the angle between the two groups of driving large arms and the change and recovery of the angle between the driving large arms and the driving small arms are realized by utilizing the characteristics of reversible phases and fixed phases of shape memory polymers, so that the swinging of the driving large arms and the driving small arms is realized;
the paper-based wall climbing robot model is characterized in that adsorption pads capable of supporting the paper-based wall climbing robot model are arranged on two walking arms of the paper-based wall climbing robot model, and the paper-based wall climbing robot model is adsorbed on a climbing surface through the adsorption pads;
the control system is respectively electrically connected with the shape memory polymer actuators and the adsorption pads, and the control system sends control signals for alternate on-off to the two adsorption pads and sends periodic driving signals to the shape memory polymer actuators to realize the crawling action of the paper-based wall-climbing robot model.
7. The manufacturing method of the paper-based wall climbing robot based on the shape memory polymer drive according to claim 6, characterized in that: the preparation of the paper-based wall-climbing robot model comprises the following steps: a strip-shaped paper arm is taken, a laser cutting machine or other cutting equipment is utilized to symmetrically cut the central axis position and the two sides of the central axis of the strip-shaped paper arm, the cutting thickness is half of that of the strip-shaped paper arm, the strip-shaped paper arm is bent along the cutting position, and a driving large arm, a driving small arm and a walking arm which are symmetrically arranged are formed on the two sides of the central axis.
8. The method for manufacturing the paper-based wall-climbing robot based on the shape memory polymer drive according to claim 6, wherein the method comprises the following steps: the shape memory polymer actuator comprises a shape memory polymer base material, a copper resistance card is printed on the curved inner surface of the shape memory polymer base material, a double-faced adhesive tape is pasted on the curved outer surface of the shape memory polymer base material, and the paper-based wall climbing robot model is pasted through the double-faced adhesive tape;
the bending angle of the shape memory polymer substrate in the initial state is 120 degrees, the transformation bending angle after the copper resistance sheet is heated is 60 degrees, the transformation bending angle is maintained at 60 degrees after the heating and the cooling are stopped to the room temperature, and the bending angle is recovered to be 120 degrees after the copper resistance sheet is heated again.
9. The method for manufacturing the paper-based wall-climbing robot based on the shape memory polymer drive according to claim 6, wherein the method comprises the following steps: the preparation process of the adsorption pad comprises the following steps:
taking a flexible non-conductive insulating paper sheet, cutting the flexible non-conductive insulating paper sheet to a required size to be used as a paper pad base layer;
processing comb-tooth electrode-shaped meshes on a silk screen printing plate by a laser cutting machine or other cutting equipment, and then placing the silk screen printing plate on a paper pad base layer;
printing Ag/AgCl printing ink on a silk screen printing plate to form a comb-shaped electrode on a paper pad base layer;
taking down the screen printing plate, keeping the electrode upward, placing the paper pad base layer with the electrode on a heating plate, baking and curing the electrode, and connecting the wire to the uncured electrode in the process;
and after the electrode is cured, taking a piece of transparent adhesive tape with the same size as the paper pad base layer and sticking the transparent adhesive tape on the surface of the paper pad base layer with the electrode so as to insulate the upper surface of the comb-tooth electrode from the outside.
10. The method for manufacturing the paper-based wall-climbing robot based on the shape memory polymer drive according to claim 6, wherein the method comprises the following steps: the control system comprises an upper computer, a control panel, a Metal Oxide Semiconductor Field Effect Transistor (MOSFET) and a voltage converter, wherein the upper computer sends a control instruction to the control panel, the control panel is electrically connected with an adsorption pad through the voltage converter and controls the on-off of the adsorption pad, the control panel is electrically connected with a shape memory polymer actuator through the MOSFET and controls the activation state of the shape memory polymer actuator, the MOSFET is used as a switch, when the switch is opened, the shape memory polymer actuator is heated, when the switch is closed, the shape memory polymer actuator is cooled to the room temperature, and the walking of the paper-based wall climbing robot is realized by controlling the alternate adsorption of the adsorption pad and the periodic driving of the shape memory polymer actuator.
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